Point cloud data transmission device, point cloud data transmission method, point cloud data reception device, and point cloud data reception method

Abstract

Disclosed herein is a method for transmitting point cloud data, the method including encoding point cloud data, and transmitting a bitstream containing the point cloud data. Disclosed herein is a method for receiving point cloud data, the method including receiving a bitstream containing point cloud data, decoding the point cloud data, and rendering the point cloud data.

What is claimed is: 
     
       1. A method of transmitting point cloud data, the method comprising:
 encoding the point cloud data; and 
 transmitting a bitstream containing the point cloud data, 
 wherein the encoding the point cloud data includes:
 geometry encoding geometry information of the point cloud data based on a tree including the point cloud data, and 
 
 wherein the geometry information is quantized based on a quantization parameter, and an offset is further applied to the point cloud data to scale a position of the geometry information. 
 
     
     
       2. The method of  claim 1 , further comprising:
 partitioning a space of the point cloud data based on a partition unit, 
 wherein the encoding comprises: 
 encoding attribute information about the point cloud data, 
 wherein the encoding of the geometry information comprises: 
 generating an octree for the point cloud data. 
 
     
     
       3. The method of  claim 2 , wherein, when the partitioning unit is a block, the generating of the octree comprises:
 constructing the octree on a basis of the block; or 
 constructing the octree on a basis of a slice including the block. 
 
     
     
       4. The method of  claim 2 , wherein the generating of the octree comprises:
 when the partition unit is a block, constructing the octree on a basis of a slice including the block; and 
 when the slice includes a first block and a second block overlapping each other, generating ID information about points in an overlapping area. 
 
     
     
       5. The method of  claim 2 , wherein, the generating of the octree comprises:
 when the partition unit is a block, constructing the octree on a basis of a slice including the block; and 
 when the slice includes a first block and a second block overlapping each other, adjusting a position of the second block to an area of a virtual block based on an offset value, the virtual block not overlapping the first block. 
 
     
     
       6. A device for transmitting point cloud data, the device comprising:
 an encoder configured to encode the point cloud data; and 
 a transmitter configured to transmit a bitstream containing the point cloud data, 
 wherein the encoder further includes:
 a geometry encoder configured to geometry encode geometry information of the point cloud data based on a tree including the point cloud data, and 
 
 wherein the geometry information is quantized based on a quantization parameter, and an offset is further applied to the point cloud data to scale a position of the geometry information. 
 
     
     
       7. The device of  claim 6 , further comprising:
 a spatial partitioner configured to partition a space of the point cloud data based on a partition unit, 
 wherein the encoder comprises: 
 an attribute encoder configured to encode attribute information about the point cloud data, 
 wherein the geometry encoder comprises: 
 an octree generator configured to generate an octree for the point cloud data. 
 
     
     
       8. The device of  claim 7 , wherein, when the partitioning unit is a block, the octree generator is configured to:
 construct the octree on a basis of the block; or 
 construct the octree on a basis of a slice including the block. 
 
     
     
       9. The device of  claim 7 , wherein the octree generator is configured to:
 when the partition unit is a block, construct the octree on a basis of a slice including the block; and 
 when the slice includes a first block and a second block overlapping each other, generate ID information about points in an overlapping area. 
 
     
     
       10. The device of  claim 7 , wherein the octree generator is configured to:
 when the partition unit is a block, construct the octree on a basis of a slice including the block; and 
 when the slice includes a first block and a second block overlapping each other, adjust a position of the second block to an area of a virtual block based on an offset value, the virtual block not overlapping the first block. 
 
     
     
       11. A method of receiving point cloud data, the method comprising:
 receiving a bitstream containing the point cloud data; and 
 decoding the point cloud data, 
 wherein the decoding the point cloud includes:
 geometry decoding geometry information of the point cloud data based on a tree including the point cloud data, and 
 
 wherein an offset is applied to the point cloud data to scale a position of the geometry information, and the geometry information is de-quantized based on a quantization parameter. 
 
     
     
       12. The method of  claim 11 , wherein the decoding comprises:
 decoding attribute information of the point cloud data, 
 wherein the decoding of the geometry information comprises: 
 reconstructing an octree for the point cloud data. 
 
     
     
       13. The method of  claim 12 , wherein the reconstructing of the octree comprises:
 checking whether the point cloud data is data partitioned based on a tile or a slice. 
 
     
     
       14. The method of  claim 12 , wherein, when the point cloud data is partitioned based on a block, the reconstructing of the octree comprises:
 checking whether a type of overlap applied to the point cloud data is an independent octree or an octree excluding position adjustment and additional information. 
 
     
     
       15. The method of  claim 12 , wherein, when the point cloud data is partitioned based on a block, the reconstructing of the octree comprises:
 checking whether a type of overlap applied to the point cloud data is an octree excluding position adjustment and including additional block information or an octree including the position adjustment; 
 reconstructing a virtual position of the block for the point cloud data based on signaling information for each block contained in the bitstream. 
 
     
     
       16. A device for receiving point cloud data, the device comprising:
 a receiver configured to receive a bitstream containing the point cloud data; and 
 a decoder configured to decode the point cloud data, 
 wherein the decoder includes:
 a geometry decoder configured to geometry decode geometry information of the point cloud data based on a tree including the point cloud information, and 
 
 wherein an offset is applied to the point cloud data to scale a position of the geometry information, and the geometry data is de-quantized based on a quantization parameter. 
 
     
     
       17. The device of  claim 16 , wherein the decoder comprises:
 an attribute decoder configured to decode attribute information of the point cloud data, 
 wherein the geometry decoder comprises: 
 an octree reconstructor configured to reconstruct an octree for the point cloud data. 
 
     
     
       18. The device of  claim 17 , wherein the octree reconstructor checks whether the point cloud data is data partitioned based on a tile or a slice. 
     
     
       19. The device of  claim 17 , wherein, when the point cloud data is partitioned based on a block, the octree reconstructor is configured to check whether a type of overlap applied to the point cloud data is an independent octree or an octree excluding position adjustment and additional information. 
     
     
       20. The device of  claim 17 , wherein, when the point cloud data is partitioned based on a block, the octree reconstructor is configured to:
 check whether a type of overlap applied to the point cloud data is an octree excluding position adjustment and including additional block information or an octree including the position adjustment; 
 reconstruct a virtual position of the block for the point cloud data based on signaling information for each block contained in the bitstream.